Method and device for real time mechanical imaging of prostate

ABSTRACT

The present invention relates to a method for real time mechanical imaging of a prostate with a transrectal probe. In the method, generating a composite two- and three-dimensional prostate mechanical image from a plurality of partial mechanical images extracted from pressure response data and a probe orientation data starts with examining the prostate by pressing a probe head pressure sensor array against it at various overlapping locations. Merging of partial mechanical images together is accomplished by analyzing an overlap between each subsequent and previous partial mechanical image. Finding the prostate is assisted with a supplemental pressure response data indicating the location of a sphincter known to be about 4-5 cm away from the prostate. Data processing is improved by including probe orientation data to further increase the accuracy and sensitivity of the method. The probe is equipped with a two-dimensional head pressure sensor array, a supplemental shaft sensor array and orientation tracking sensors including a three-axis magnetic sensor and a two-axis accelerometer sensor for calculating elevation, rotation and azimuth angles of the probe.

CROSS-REFERENCE DATA

This application is a continuation of a co-pending U.S. patentapplication Ser. No. 13/005,401 filed 12 Jan. 2011, which in turn is acontinuation of the patent application Ser. No. 11/123,999 filed 6 May2005, now abandoned, all of which are incorporated herein by referencein their respective entireties.

REFERENCE TO GOVERNMENT-SPONSORED RESEARCH

This invention was made with government support under SBIR Grant 2 R44CA82620-02A1 awarded by the National Institutes of Health, NationalCancer Institute. The government has certain rights in this invention.

BACKGROUND OF THE INVENTION

The present invention relates generally to medical devices. Morespecifically, it relates to a mechanical imaging system and process forexamining, mapping, and diagnosing diseases of a palpable organ such asa prostate gland in a male patient, especially the prostate cancer. Itis also applicable more generally to mechanical imaging of palpabletissues, including but not limited to, through natural body openings ina human being, i.e. mouth, ear(s), rectum, and other body cavities. Itis also applicable to determination of a relative stiffness orelasticity of tissues. The term “patient” includes humans and animals,both alive and dead that can be subject for mechanical imaging.

The high incidence of prostate cancer, as well as benign prostatichyperplasia (BPH), especially among the older male population, dictatesthe need for effective means of early detection. Prostate cancer is thecause of death in about 30,000 men each year, making it the number twocancer killer of men in the United States, second only to lung cancer.However, if prostate cancer is detected early and treated effectively,the chance of survival of one afflicted with this disease improvessignificantly. Current methods of early diagnosis of prostate cancerinclude digital rectal examination (DRE), measurement of serum levels ofprostate specific antigen (PSA), and transrectal ultrasound (TRUS)examination.

The following discussion provides useful overview of various methodsdescribed in the prior art and applicable to prostate examination andimaging. Substantial prior art is accumulated describing various devicesand techniques using ultrasound for the imaging of the prostate. U.S.Pat. No. 6,561,980 by Gheng describes the methods of processingultrasound images to cause automatic segmentation of prostate, rectum,and urethra once the transverse cross-sectional image of prostate isacquired by ultrasound means. U.S. Pat. No. 6,824,516 by Battendescribes a sophisticated system for examining, mapping, diagnosing, andtreating prostate diseases based on ultrasonic imaging, this patent isincorporated herein in its entirety by reference. U.S. Pat. No.6,778,690 by Ladak describes a method of processing 2D and 3D ultrasoundimages to determine the prostate boundaries and is also incorporatedherein by reference in its entirety as it provides useful imageprocessing methodology.

Unfortunately, to date the experience with TRUS as a means of prostatecancer screening and staging has been disappointing. It adds little toscreening by DRE and PSA, and the small improvement in prostate cancerdetection does not justify its cost. As a screening test, TRUS has a lowspecificity and a high false positive rate. Evaluation of pathologicspecimens shows that a significant fraction of tumors are isoechoic andthus indistinguishable from surrounding tissue, while many palpabletumors could not be visualized by TRUS.

The most sensitive single test for prostate cancer is measurement ofserum PSA levels. However, its positive predictive value is limited. TheDRE alone is even less useful. However, combining the two modalitiesnearly doubles the cancer detection rate. Large-scale studies ofsystematic screening for prostate cancer using PSA, DRE and TRUSconcluded that combining PSA and DRE provided the highest sensitivityand specificity for prostate cancer diagnosis. Therefore, thecombination of the two methods for prostate cancer screening iscurrently recommended by the AUA and American Cancer Society, and hasbeen approved by FDA for patients between the ages of 50 and 75 years.

At the present time, digital rectal examination is the most widely usedmethod of prostate cancer screening. Approximately 30-50% of palpableprostate nodules prove to be malignant upon pathologic evaluation.Screening trials have demonstrated that 70% of men with abnormal DREundergoing radical prostatectomy have organ-confined cancer. A strongassociation between abnormal DRE and prostate cancer mortality has beendemonstrated and it was suggested that screening DRE could prevent asmany as 50-70% of deaths due to prostate cancer. DRE also has been shownto be the most cost efficient prostate screening method, especially whencombined with PSA.

The main disadvantage of DRE is its high degree of subjectivity. Theuser has to instinctively relate what he or she senses by the finger toprevious DRE experience. There may not be a sufficient number of skilledusers available for large-scale mass prostate screenings. Anotherlimitation of DRE is that a physician performing the examination cannotobjectively record the state of the examined prostate. Therefore, it isdifficult to objectively compare the results of consecutive examinationsof the same prostate.

A new method of prostate imaging based on principles similar to those ofmanual palpation has been developed by Sarvazyan et al. and described inthe U.S. Pat. Nos. 6,569,108; 6,142,959; 5,922,018; 5,836,894;5,785,663; and 5,524,636, all incorporated herein in their entirety byreference. This method, termed Mechanical Imaging, provides the abilityto “capture the sense of touch” and store it permanently for latertemporal correlation and trending. The essence of mechanical imaging ismeasurement of the stress pattern on the surface of the compressedtissue and analyzing the changes of that pattern while moving the sensorarray over the examined tissue. Temporal and spatial changes in thestress pattern provide information on the mechanical structure of theexamined tissue and enable 3D reconstruction of internal structures andmechanical heterogeneities in the tissue. Mechanical imaging is free ofmany of the disadvantages of DRE. Mechanical imaging has been shown toexceed substantially the limits of lesion size and depth detectable byconventional manual palpation techniques [Weiss R., Hartanto V, PerrottiM, Cummings K, Bykanov A, Egorov V, Sobolevsky S. “In vitro trial of thepilot prototype of the prostate mechanical imaging system”, Urology,V.58, No. 6, 2001, p. 1059-1063].

Recently, the American Urological Association issued recommendations tohelp physicians confirm the diagnosis of prostate cancer. According tothese recommendations, a biopsy should be considered for any patientwith an abnormal DRE and elevated PSA. The effectiveness and reliabilityof DRE are highly dependent on the skill of the user, since the fingerdoes not provide a quantitative or objectively verifiable assessment.Thus, there is a great need for a new technology and a device to enablegeneral practitioners and urologists alike to perform a reliable,accurate, sensitive, and quantitative assessment of the prostate using acomputerized palpation-imaging device. Moreover, such accurateassessment of prostate size, shape, and elasticity is also important fordiagnosing and monitoring of prostate cancer and BPH. Mechanical imagingtechnology and the low cost, prostate imaging device should improvesignificantly the ability of minimally trained individuals in primarycare settings to assess, screen, and monitor prostate pathology in areliable and valid manner in a male human, with a minimum of physicaland mental discomfort.

While prior art mechanical imaging devices provided for data collection,the ability to recreate the 2D and 3D images of the prostate werelimited by the insufficiently accurate information about the position oftransrectal probe with regard to the examined prostate in the course ofexamination. One reason for this is because the prostate can shift fromits original place during the procedure. Therefore, the prior artmethods have a fundamental disadvantage in that as the examinationprogresses, no means are available to properly compensate for the probeposition and orientation relative to the moving prostate. Inaccuraciesin the evaluation of the location of the prostate with respect to theprobe head during the course of examination may result in low quality ofobtained images and introduce various artifacts.

The need exists therefore for a prostate examination means and methodsof use designed to eliminate the distortion in the position data of theprostate probe and make it independent of the internal movements of theprostate organ.

SUMMARY OF THE INVENTION

Accordingly, it is an object of the present invention to overcome theseand other drawbacks of the prior art by providing a novel method anddevice for mechanical imaging of a palpable organ such as a prostategland through a natural body opening, this method and device having theability to generate real time 2D and 3D depiction of the organ andautomatic detection of suspicious areas within thereof.

It is another object of the present invention to provide a mechanicalimaging device for examination of prostate capable of automaticallycompensating for the internal shifts of the prostate during theexamination.

It is another object of the present invention to provide a mechanicalimaging device for examination of prostate capable of merging at leasttwo independently obtained mechanical images of prostate using commonlyidentified features of the prostate image from an overlap between thesetwo images.

It is a further object of the present invention to provide a probe forprostate examination equipped with a two-dimensional pressure arraysensor capable of providing mechanical images with the ability torecognize the overlap between these two images.

The method of the invention is based on a method for real timemechanical imaging of the palpable organ with a probe inserted through anatural body opening. According to one aspect of the method of theinvention, generating a two- or three-dimensional prostate mechanicalimage from a plurality of pressure response data and probe orientationdata comprises the steps of:

-   -   locating the prostate under the transrectal probe head pressure        sensor array,    -   examining the prostate by the probe head two-dimensional sensor        array by pressing it repeatedly against the prostate at various        locations such that each subsequent location overlaps the        previous location,    -   incorporating newly acquired mechanical prostate information        from each location where the probe is pressed against the        prostate into a partial two-dimensional normalized mechanical        image of the prostate,    -   comparing each subsequent partial mechanical image with the        previous partial mechanical image to find an overlap        therebetween, and    -   constructing a composite mechanical image of the prostate from        the entire plurality of partial mechanical images using overlaps        between each subsequent and previous partial mechanical image to        merge them together.

Importantly, the processing of data obtained from the probe headpressure sensor array allows moving the probe relative to the prostatewhile maintaining the common identified features of each obtainedpartial mechanical image. In other words, every time the probe is movedfrom one location to the next, the processing means of the device areadapted to follow certain identifiable features from the overlap betweenthe previous partial mechanical image to the next one such that acomplete 2D or 3D image may be constructed. That way, there is less oreven no need for knowing the absolute position in space of both theprostate and the probe in order to accurately relate each successivemechanical image to a certain part of the prostate.

In the preferred embodiment, the device comprises: a probe shaftpressure sensor array for collecting pressure response data in thevicinity of the sphincter; a probe head pressure sensor array forcollecting data in the vicinity of the prostate volume; a probeorientation tracking sensors for collecting a probe orientation data; aprocessing apparatus for processing the pressure response andorientation data to generate mechanical image data and calculateprostate parameters; and a display device for representation of at leasta two-dimensional image of the prostate.

Preferably, in order to further increase the accuracy of the results,the probe head orientation and its position relative to examinedprostate is calculated from orientation data recorded from 3D magneticsensors and a 2D accelerometer sensor, and combined with the pressureresponse data recorded from the head pressure sensor array and the shaftpressure sensor array.

As opposed to the devices of the prior art, the present invention takesadvantage of combining three independent sources of positioninginformation:

-   -   using the prostate itself as a reference object by examining the        overlap between each previous and subsequent partial mechanical        image of the prostate,    -   having more than one pressure sensor arrays working together in        an integrated manner to take advantage of locating the prostate        in its relationship to a nearby organ, which is more stable in        its position such as sphincter, and finally    -   calculating of probe head position from probe orientation data.

Combining all these sources of information, the device of the inventionprovides calculations including both the orientation and pressureresponse data.

The device and method of the present invention are created with a designphilosophy to create a patient-friendly system, which is easy andintuitive to use by the examining physician.

As a result, the present invention advantageously provides for:

-   -   early prostate cancer detection;    -   quantitative classification of prostate geometrical and        mechanical parameters;    -   automatic identification of what has changed between successive        examinations;    -   tracking and trending treatment impact for certain treatment        modalities;    -   matching the system output with pathology findings as proof of        system performance.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of the subject matter of the presentinvention and the various advantages thereof can be realized byreference to the following detailed description in which reference ismade to the accompanying drawings in which:

FIG. 1 is a schematic diagram illustrating the functional structure ofthe system in accordance with the present invention,

FIG. 2 is a side view of the probe with a two-dimensional head pressuresensor array, a shaft pressure sensor array, and orientation sensors,

FIGS. 3A and 3B are cross-sectional views of the probe head and theprobe shaft respectively in accordance with the present invention,

FIG. 4 is a diagram of an orientation tracking system used in thepreferred embodiment of the present invention,

FIG. 5 represents an electronic unit schematic diagram of the device,

FIG. 6 is a flow chart describing steps for obtaining diagnosticinformation,

FIG. 7 is a perspective view of the transrectal probe relative to anexamined prostate, illustrating a reference coordinate system havingthree orthogonal axes and probe orientation angles,

FIG. 8 is a flow chart describing steps for composition oftwo-dimensional and three-dimensional prostate mechanical images andcalculating prostate parameters,

FIG. 9 is an illustration of real time two-dimensional prostate imageand sphincter area mechanical image with relative probe positioning toguide the use of the probe during prostate examination, and

FIG. 10 is an illustration of a three-dimensional prostate mechanicalimage composition.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS OF THE INVENTION

A detailed description of the present invention follows with referenceto accompanying drawings in which like elements are indicated by likereference letters and numerals.

Referring now to the drawings, FIG. 1 is a schematic view of a preferredembodiment of a device for generating a mechanical image of athree-dimensional prostate volume from pressure response datacorresponding to a scan of the prostate. The device comprises thefollowing major elements:

-   -   a transrectal probe 3 with incorporated two-dimensional head        pressure sensor array 1 for receiving pressure response data for        the prostate 4 and shaft pressure sensor array 2 for receiving        supplemental pressure response data for a sphincter area 5,    -   electronic unit 6, and    -   a processing and displaying means 7, which may be for example        incorporated into a compact personal computer.

The prostate examination is performed using the following general steps.The patient is instructed to take off all clothes below the waist. Theexamination is preferably performed in the standing position by bendingthe patient over the examination table to form a 90-degree angle at thewaist. Patient' chest is placed on the table and patient's weight isapplied to the table surface so that leg muscles are free from anytension. Optionally, the patient can also be examined while positionedon his side, with his knees bent toward his chest. The probe ispreferably covered with a disposable lubricated cover. During theinsertion into the rectum, pressure applied to the anal sphincter shouldbe monitored in order to minimize the level of patient' discomfort.Pressure response data obtained from a supplemental pressure array maybe optionally used for that purpose. Gentle posterior pressure isapplied as the probe is slowly inserted with the sensor surface down.Allowing a few seconds for the external and internal sphincter to relaxwill avoid patient discomfort. Scanning begins in the sagitall plane byfirst optionally imaging the sphincter used as a supplemental referenceorgan. Then, the probe is inserted deeper until the bladder isvisualized. Next, by sliding the probe backwards, the prostate isdetected at about 4-5 cm from the sphincter and the probe is positionedin a way that enables the device to display the prostate gland surfacein the center of the screen. Once the probe is properly positioned,evaluation of prostate is performed through a set of multiple pressingson the median sulcus and lateral lobes of the prostate. Each location ofcompression of the prostate is done such that it overlaps the previouslocation of such compression. In certain cases, change in an elevationangle of the probe is required to visualize the prostate.

FIG. 2 is a side view of the preferred embodiment of the transrectalprobe 3 with the head pressure sensor array 1 installed on a probe head21, and with the shaft pressure sensor array 2 installed on a probeshaft 22 attached to the probe handle 24. The optional elasticdisposable cover (not shown) is envisioned to envelop the entire surfaceof the probe head 21, probe shaft 22, and partly the probe handle 24.The probe handle 24 further comprises orientation tracking meansconsisting of a three-axis magnetic sensor 25 and a two-axisaccelerometer sensor 26. The probe also includes an examination“start-stop” button 23. Of note here is the offset of the probe head 21relative to the probe shaft 22. It is designed such that the probebetter fits with the anatomy of a human patient, so that compression ofthe prostate does not cause loading the sphincter with a side force.Both the shaft and the head pressure sensor arrays are better adapted tovisualize the prostate and the sphincter respectively.

FIG. 3A is a preferred cross-sectional view of the oblong probe head 21with surface installed pressure sensors 31 in accordance with thepresent invention. The probe of the invention is equipped with atwo-dimensional pressure sensor array with over 60 individual sensorsarranged in a two-dimensional array, for example 8×16 or 16×16.Importantly, the number of sensors, their density, and arrayconfiguration is selected to provide sufficient pressure response datato obtain two-dimensional pressure data in each pressing of the probeagainst the palpable organ. When each subsequent location in which theprobe is pressed against the prostate overlaps the previous location,resolution of the pressure array should be sufficient to identify suchoverlap between the partial mechanical images corresponding to aprevious and subsequent location, as discussed in more detail below.Previously known devices of this type were not capable of obtaining atwo-dimensional pressure patterns after a single pressing since theywere equipped with just a linear array of sensors or had limited numberof sensors. That was insufficient for obtaining useful two-dimensionalpatterns by making just a single pressing of the pressure sensing array.A plurality of pressure sensors 32 constitutes the pressure sensingarray of the head pressure sensor array 1 as shown in FIG. 2. Thetwo-dimensional pressure sensor array 1 serves the following three mainpurposes:

-   -   providing pressure response data in the course of examination of        the prostate,    -   providing information on changes in the probe head position        relative to the prostate deploying a mechanical image        recognition technique, and    -   guiding the user during prostate examination by displaying a        real time complete two-dimensional pressure pattern of the head        pressure sensor array.

Size, grid, and sensor quantity in the head pressure sensor array mayvery. Preferably, the head pressure sensor array has a pressuresensitive area of about 12 to 20 mm wide by 30 to 50 mm long, andincludes over 60 individual pressure sensors. The curvature radius ofthe probe head may vary too, but preferably the curvature radius shouldbe about 10 to 20 mm to provide a uniform stress pattern while pressingagainst the prostate. Individual pressure sensors may be designed to bea piezoelectric, resistive, or MEMS pressure transducer, possibly usingmicro-machined parts or nano-technologies. Preferably though, eachpressure sensor comprises a capacitive pressure transducer covered by anelastic compound.

FIG. 3B is a preferred cross-sectional view of the probe shaft 22 withsurface installed supplemental pressure sensors 32 in accordance withthe present invention. A plurality of supplemental pressure sensors 32constitutes the shaft pressure sensor array 2 as shown in FIG. 2. Thisshaft pressure sensor array serves two main purposes:

-   -   receiving supplemental pressure data from the sphincter area        needed to guide the user during prostate examination by        displaying a real time complete two-dimensional pressure pattern        of the shaft pressure sensor array, and    -   assisting the user in estimating a most probable location of the        prostate being typically at a distance of about 4-5 cm away from        the location of the sphincter.        As with the head pressure sensor, the size, grid, design, and        sensor quantity in the supplemental shaft pressure sensor array        may very. In the most basic case, it can be a simple linear        array of sensors. Preferably, the shaft pressure sensor array        has a pressure sensitive area all the way around the probe shaft        sized to be about 40 mm long and include over 600 individual        pressure sensors. A shaft diameter may vary too, but preferably        the shaft diameter is about 12.5 mm. Each individual pressure        sensor may be a piezoelectric, resistive, or MEMS pressure        transducer, but in the preferred embodiment it is a capacitive        transducer, similar to that of the head pressure sensor array.

FIG. 4 is a diagram of an orientation tracking sensor means used in thepreferred embodiment of the present invention. The orientation trackingmeans includes a three-axis magnetic sensor 25 with orthogonalsensitivity axes M_(x), M_(y), M_(z), and a two-axis acceleration sensor26 having sensitivity axes A_(x), A_(y) accordingly. Importantly,A_(x)-axis is parallel to the M_(x)-axis and A_(y)-axis is parallel tothe M_(y)-axis. Both the magnetic sensor 25 and the acceleration sensor26 are mounted on a platform 41 so that X and Y axes are parallelthereto, which in turn is parallel to the probe head pressure sensingsurface. Preferably, platform 41 is incorporated inside the probe handleto be in the vicinity of the sphincter during prostate examination.Magnetic sensor readings give sensor orientation relative to Earth'smagnetic field. To compensate the magnetic sensor reading for a platformtilt relative to a horizontal plane, which is perpendicular to Earth'sgravity vector, it is necessary to know the platform tilt angles. Thetwo-dimensional accelerometer sensor is used here as a tilt sensor toprovide elevation (φ) and rotation (θ) readings. The X, Y, Z magneticreadings can be traced back to the horizontal plane by applying therotational equations shown below:

Xh=X*cos(φ)+Y*sin(θ)*sin(φ)−Z*cos(θ)*sin(φ)  (1)

Yh=Y*cos(θ)+Z*sin(θ)  (2)

where Xh and Yh are Earth's magnetic vector projections to thehorizontal plane. Once Xh and Yh are known, it is possible to calculatean azimuth angle as:

azimuth=arcTan(Yh/Xh)  (3)

To facilitate the use of the accelerometer sensor as a tilt sensor, aknown low-pass filter may be applied.

In use, upon pressing the “start” button on the probe handle, theprocessing means 7 is supplied with all angle readings and calculatescurrent azimuth angle to set this azimuth angle as a azimuth referenceangle equaling to zero. At the same time, an orientation closeness ofazimuth angle discontinuity to this azimuth reference angle iscalculated. In case this closeness exceeds a predetermined threshold,axes X and Y are mutually changed in equations (1), (2) to move away theazimuth angle discontinuity from a probe operation range. All azimuthangles thereafter and during prostate examination procedure arecalculated relative to that azimuth reference angle so that the user mayobserve in real time all probe orientation angles: azimuth, elevation,and rotation.

FIG. 5 represents a schematic diagram of an electronic unit 6 of thedevice in accordance with the present invention. A plurality of pressuresensors 31 forming the head pressure sensor array 1, and a plurality ofpressure sensors 32 forming the shaft pressure sensor array 3 are shownon the diagram. A pressure sensing circuit inside the electronic unit 6comprises an analog switching unit 45, amplifier 46, converter and/orintegrator 49, designed to amplify and convert respective electricalsignals generated by each pressure sensor for detecting a pressureimposed on each sensor during prostate examination. Analog-to-digitalconverter 48 transforms analog input signal into a digital signal andsends it to a processor 52. A plurality of amplifiers 43 amplify signalsgenerated by accelerometer sensor 25 and magnetic sensor 26 describedabove for detecting the probe orientation during pressing against theprostate and movement of the probe from one pressing site to another.The amplified signals from amplifiers 43 are sent to multiplexer 47.Multiplexed signals are converted to digital signals byanalog-to-digital converter 51 and sent to processor 52. A set/resetcircuit 44 controlled by the processor 52 generates set/reset pulsessupplied to magnetic sensor 26 to optimize the magnetic domains for mostsensitive performance. Structure and functional characteristics ofset/reset circuit 44 are determined by the type of magnetic sensor usedfor the design of the probe and by recommendations of specific magneticsensor manufacturer. A control button 23 mounted on the transrectalprobe handle is connected to the processor 52 through a driver 50 forcontrolling the prostate examination process and providing at least astop/start function. Processor 52 communicates with analog-to-digitalconverters 48 and 51, multiplexers 45 and 47, and a communication port54 to support data exchange with external processing and displayingmeans 55. Preferably, the external processing and displaying means 55 isa compact laptop computer. Data storage unit 53 may be used inelectronic unit 6 for storing prostate examination data and intermediateinformation needed for proper functioning thereof, for exampleorientation sensor calibration data, pressure sensor calibration andtuning data, etc. The processing means is designed to automaticallydetect pressure sensors malfunction such as for example excessive noiseand impaired sensitivity and excludes any defect sensor data fromacquired pressure data frames.

The external processing and displaying means 55 is intended to serve forexamination data processing. It is adapted to perform the followingfunctions:

-   -   calculate the position of each pressure sensor during prostate        examination,    -   approximate and correct partial mechanical images of the        prostate and surrounding tissues,    -   separate and analyze the prostate partial mechanical images,    -   determine the prostate geometrical parameters and mechanical        parameters of prostate inner structures such as lesions,        nodules, stiffer tissue and the like, and    -   prepare the prostate images for visualization, as described        below.

The displaying means 55 preferably has a touch screen functions tocommunicate with the device during prostate examination.

FIG. 6 is a flow chart describing steps for obtaining diagnosticinformation in accordance with the present invention. Head pressuresignal is first acquired from the probe head pressure sensor array andthen transformed into head pressure response data 61 expressed forexample in kPa according with the sensor calibration characteristics.After temporal and two-dimensional spatial filtering in block 62, thedata is displayed for the user (in block 63) in real time duringprostate examination. It allows the user to guide the probe helping indetection of any abnormal or suspicious sites in the examined prostate.Shaft pressure signal is acquired from the probe shaft pressure sensorarray and transformed into a shaft pressure response data 65 expressedfor example in kPa according to the sensor calibration characteristics.After a temporal and two-dimensional spatial filtering in block 66, itis also displayed (block 67) in real time during prostate examination.This allows visualizing a part of sphincter area to guide the user infinding prostate and assisting in the probe navigation. Orientation data70 is acquired from the probe orientation sensors. Further, aftercalculation of azimuth, elevation and rotation angles in block 71, theseangles are displayed (block 72) in real time during the prostateexamination to guide the user in probe navigation.

After locating the prostate under the probe head pressure sensor array,the user presses the examination start/stop button on the probe handleto start a real time prostate mechanical image composition algorithm(block 68). Description of this algorithm is given below in explanationsof FIG. 9. The two-dimensional prostate mechanical image is composed anddisplayed in block 73. Simultaneously, the prostate examination dataincluding that pressure response and probe orientation data areaccumulated in block 64. All operations in block 60 take place in realtime during prostate examination.

After completing the prostate examination, the user presses again theexamination start/stop button on the probe handle to stop the real timeprostate mechanical image composition algorithm, and to go toexamination data saving procedure in block 74. A three-dimensionalprostate mechanical image composition algorithm in block 75 is runningautomatically as described in detail below. The composedthree-dimensional mechanical prostate image may be visualized in block77. Prostate geometrical parameters and mechanical parameters arecalculated in blocks 76 and 78 respectively. Printout of the prostateexamination results (block 79) includes a series of prostate mechanicalimages representing the most distinctive prostate findings andquantitative prostate data such as a size, symmetry, medium groove,lesion detection classifier outputs and alike.

FIG. 7 is a perspective view of a probe relative to an examined prostateillustrating a reference coordinate system having three orthogonal axesand probe orientation angles. A processing means defines the referencecoordinate system X, Y, Z at the moment of first capturing a prostatemechanical image when a total pressure prostate signal exceeds apredetermined threshold after pressing the start examination button onthe probe handle. The following instant orientation angles are definedas reference angles for the reference coordinate system X, Y, Z:elevation (80), azimuth (81), and rotation (82). All subsequent probeorientation angles relative to the reference system X, Y, Z arecalculated relative to these reference angles. The probe head 21 ispressed against the prostate 4, when the first capturing a prostatemechanical image occurs. In a preferred method of the invention, a proberotation angle should be maintained close to zero. Despite of thepresence of the probe head pressure sensing surface curvature, themechanical image projection along X-coordinate on X, Y-plane is donewithout taking into account that curvature. The probe head mechanicalimage is acquired as a 2D image and used for prostate imagereconstruction inside a defined three-dimensional prostate volume. Forthe simplicity of real time calculations, the two axes X and Y of thereference coordinate system X,Y,Z are positioned in the mechanical imageplane of the probe head pressure sensor array, while the third referenceor Z-coordinate is perpendicular to the mechanical image plane.

FIG. 8 is a flow chart describing the steps necessary for composition ofa two-dimensional and a three-dimensional prostate mechanical image andcalculating prostate parameters. These algorithms can be activated inreal time during prostate examination as marked by dashed line 83 orafter the examination is complete when all examination records areavailable (block 64). The first step includes extraction of continuouspressure data sequence from the head pressure sensor array by means forcalculating a plurality of partial mechanical images of the prostate.One partial mechanical image is calculated each time when the prostateis located under the probe head, so that this data will be used later inprostate image composition. The purpose of this extraction is to excludesphincter signals from the head pressure data during the probe insertioninto the rectum.

Detection of prostate partial mechanical image in pressure response datarecorded from the head pressure sensor array is done in block 84 byusing an algorithm, which estimates the probability that mechanicalimage has a pressure signal increase in its central part. Thepossibility that some sensors could produce an erroneous signal, as wellas that some rows and column in the sensor array could have incorrecttuning or calibrating are taken into account. Such column and row errorsmay cause false pressure jumps or gaps in the pressure data. For eachinterior row or column of the sensor array, the detection algorithmcalculates a pressure signal value relative to the linear interpolationbased on the boundary pressure. A predetermined number of points withhighest and lowest pressure values are discarded. The positive ornegative sign of the sum of remaining values defines the sign of theentire line. Each line (row or column) is assigned a certain weight, thehighest for the central lines, and the lowest for boundary lines. If thesum of the weights for all lines with corresponding signs is greaterthan a predefined value, it is considered that the mechanical imagecontains the prostate imprint. The sum is then normalized to apredetermined range, using two scale parameters, which gives aquantitative estimation of the presence of a prostate imprint in themechanical image. If no prostate pressure signal was detected inside theanalyzed pressure data frame, this data frame is discarded. On theopposite, if the prostate pressure signal was detected, the nextprocedure in block 85 activates extraction of only the prostate pressureresponse data (pixels) inside analyzed pressure response data frame.

The procedure for isolation of a partial prostate image consists ofseparation of one or several relatively big coherent zones containing arelatively high pressure signal. Another purpose of this procedure is toreduce the influence of boundary effects and suppression of pressurepeaks in the top and bottom parts of the sensor array corresponding tothe sphincter and bladder pressure signals. This procedure starts withquadrupling the number of pixels in the image using two by twointerpolations between neighboring sensors. The binary image of thepressure pattern is created by setting all pixels for which the pressureis higher than average to black. At the same time, the pixels for whichthe pressure is lower than average are set to white. Two types offiltering are applied thereafter to the binary image. The expandingfiltering calculates the number of black pixels adjacent to each whitepoint. If the number is higher than the predetermined value, it turnsthe white point into a black point in order to enlarge the black regionsand cover small white holes. The squeezing filtering is applied next toachieve the same but opposite effect for black points. It calculates thenumber of white pixels adjacent to each black point. If that number ishigher than the predetermined value, it turns it to the white point inorder to squeeze black zones and smooth their edges. A sequence ofexpanding and squeezing removes or significantly reduces small boundarydefects, eliminates the inner white holes, combines and rounds largeinside zones. The resulting black zone is mapped back to the pressuresensor array, and only the pressure sensors, which belong to the blackzone, are allowed to participate in the next phase of prostate imageanalysis.

Important advantage of the present invention is its ability to use theprostate itself as a reference object. After determination of prostatepartial images earlier in the sequence, this is accomplished in the nextfew steps by the means 86 for constructing of the composite prostateimage. Specifically, in the block 86 the first n-frames of pressureresponse data are captured to construct a first pass two-dimensionalmechanical prostate structure. This capture is occurring when the totalpressure prostate signal exceeds a predetermined threshold. Afteraveraging, the captured first pass prostate structure is transferredinto a two-dimensional composite prostate image 91. After that, eachsubsequent pressure response data carrying the prostate partialmechanical image is analyzed in means for comparing partial mechanicalimages 90 to find an overlap area with the previous partial mechanicalimage. Subsequently, means for constructing the composite image 94 areused for placing new partial mechanical image into the compositetwo-dimensional prostate mechanical image. Block 90 runs a matchingalgorithm trying to find best fit of a current prostate partialmechanical image inside the two-dimensional composite prostatemechanical image. Preferably, the best fit is calculated by maximizing afunctional F

$\begin{matrix}{{{F\left( {n,m} \right)} = {\sum\limits_{i,{j = 0}}^{{i = k},{j = l}}\; {S_{i,j}*P_{{n + i},{m + j}}}}}{for}\text{}{{n \Subset \left( {{{- k}/4},{{+ k}/4}} \right)},{m \Subset \left( {{{- l}/4},{{+ l}/4}} \right)}}} & (4)\end{matrix}$

where k and l are quantities of horizontal and vertical pixels insidethe pressure frame with the current prostate mechanical image, n and mare maximum possible image shift in pixels relative to a previous fittedmechanical image, S_(i,j) is current pressure response signal of i,jpixels, and P_(n+i,m+j) is a pressure signal of n+i,m+j pixel inside thetwo-dimensional composite prostate image.

After the best fit is found, each pixel of a current partial mechanicalprostate image is placed into the two-dimensional composite prostateimage with a predetermined weighted factor if its current value exceedsrespective pixel value inside the two-dimensional composite prostateimage (block 94). Preferably, all calculations in blocks 86, 90, 91, and94 are implemented with normalized pixels, so that each pixel value ofthe prostate mechanical image is divided by a modified average ofanalyzed pressure data frame calculated inside block 87. The modifiedaverage S is calculated according to equation (5) after removing apredetermined quantity (b) of pressure pixels S^(max) having maximumvalues.

$\begin{matrix}{\overset{\leftharpoonup}{S} = {\left( {{\sum\limits_{i,{j = 0}}^{{i = k},{j = l}}\; S_{i,j}} - {\sum\limits_{q = 0}^{q = b}\; S_{q}^{\max}}} \right)/\left( {{k*l} - b} \right)}} & (5)\end{matrix}$

where k and l are quantities of horizontal and vertical pixels insidethe pressure response frame with the analyzed prostate mechanical image,S_(i,j) is an instant pressure signal of i,j pixels.

Azimuth, elevation, and rotation angles calculated for the instantpressure response data frame in block 93, and evaluated Y-coordinatefrom shaft pressure data in block 89 are used in finding a frame localreference position inside the two-dimensional mechanical image space tostart matching algorithm in the accordance with equation (4).Simultaneously, a procedure 95 of removing image distortion andprocedure 96 of correction of the two-dimensional mechanical image 91are run during prostate examination. The procedure 95 smoothes anydistortions above a predetermined threshold in the calculated atwo-dimensional gradient field inside the image 91. Procedure 96corrects a prostate form if prostate form distortion exceeds the boundsof an acceptable prostate form variety.

Each pressure response data carrying a partial mechanical image of aprostate is included into a three-dimensional composite mechanicalprostate image 92 in accordance with positioning in X,Y-plane ascalculated in block 90 and Z-coordinate, which is consideredproportional to the calculated in block 87 modified average for currentframe 87. More detailed description of the three-dimensional imagecomposition algorithm of this block is given below in the descriptionfor FIG. 10.

After prostate examination is complete, a procedure 97 of a finalsmoothing and three-dimensional interpolation is applied to currentmechanical image 92. The final two-dimensional and three-dimensionalmechanical prostate images are then prepared in block 98 representing aplurality of contour, slices, iso-surfaces and alike for a better visualperception. Such prostate parameters as prostate gland size(small/medium/large) 102, medium groove (absent/present) 103, prostateshape (symmetrical/asymmetrical) 104 are calculated directly from thefinal prostate image by testing these value to a predeterminedacceptance criteria.

A nodule classifier includes three nodule detectors. First of them,shown in block 99, analyzes a signal distribution for prostate pressuredata to detect specific features typical for a positive nodule presence.Second nodule detector, shown in block 100, applies a series ofpredetermined convolution filters to each two-dimensional prostatemechanical image to detect a nodule from a variety of possible noduleforms. Preferably, a form of a convolution filter corresponds to what isbeing looked for in a nodule form. A third nodule detector, shown inblock 101, applied a series of three-dimensional convolution filters tothe final three-dimensional prostate image in block 98. Presence ofspecific three-dimensional objects inside a filtered prostate imagesignals a possible nodule presence and its location.

FIG. 9 is an illustration of a sample real time two-dimensional prostateand sphincter area mechanical imaging with a relative probe positioningdesigned to guide the user during prostate examination. Multiplepressings of probe head 21 against the prostate 4 allow the headpressure sensor array to obtain pressure response data for the prostate.Each location when the probe is pressed against the prostate overlapsthe previous such location. The pressure response data is thentransformed into a composite two-dimensional mechanical prostate image109 as described in FIG. 8 (block 91). At the same time, the shaftpressure sensor array provides supplemental mechanical data for thesphincter area, which is visualized in the same image frame 106 as atwo-dimensional sphincter mechanical image 110. Using procedures inblocks 89, 90, and 93 described in FIG. 8, current coordinates 107, 108of a probe head center 111 in the reference coordinate system X, Y, Z,as well as probe azimuth angle 113, and distance 112 between a sphinctercenter and the probe center 111 are then calculated. Combinedvisualization of the prostate image 109, the sphincter image 110 and theprobe head position facilitates the prostate probe navigation andprovides efficient feedback to the user.

FIG. 10 is an illustration of a three-dimensional prostate mechanicalimage composition in accordance with the method of the presentinvention. The three-dimensional prostate mechanical image 114 (see alsothe description of block 92 in FIG. 8 above), includes a plurality oftwo-dimensional mechanical prostate images 115, 117, 120 placed insideplanes 116, 118, 119 accordingly. During prostate scanning by multiplepressings of probe head 21 against the prostate 4, the head pressuresensor array provides pressure response data for the prostate. Each newportion of pressure response data is transformed into a two-dimensionalpartial mechanical prostate image in the accordance with procedure 85and X, Y-frame coordinates for example 107, 108 as calculated byprocedure 90 and Z-coordinate as calculated by procedure 87 from FIG. 8.Each pixel of this pressure response data is then placed inside atwo-dimensional mechanical prostate image 117 with a predeterminedweighted factor if its current pixel value exceeds a threshold valueinside the two-dimensional prostate image 117. Preferably, two differentthree-dimensional mechanical prostate images are constructed: one imageincludes only normalized pressure response pixels (each pixel value ofthe prostate mechanical image is divided by a modified average ofanalyzed pressure response data frame), while another image includesonly absolute pressure response pixels.

Although the invention herein has been described with respect toparticular embodiments, it is understood that these embodiments aremerely illustrative of the principles and applications of the presentinvention. It is therefore to be understood that numerous modificationsmay be made to the illustrative embodiments and that other arrangementsmay be devised without departing from the spirit and scope of thepresent invention as defined by the appended claims.

What is claimed is:
 1. A method for mechanical imaging of a palpableorgan through a natural body opening comprising the steps of: (a)providing a probe equipped with a two-dimensional pressure sensor arrayadapted to obtain pressure response data when pressed against saidpalpable organ, (b) conducting examination of said palpable organ byinserting said probe through said natural body opening and pressing saidprobe against said palpable organ at various locations about thereof toobtain said pressure response data, each subsequent location overlappinga previous location, (c) obtaining a plurality of partial mechanicalimages from said pressure response data, each subsequent and previouspartial mechanical image corresponding to the respective location ofpressing of said probe against said palpable organ, (d) comparing eachsubsequent partial mechanical image with the previous partial mechanicalimage to find an overlap therebetween, and (e) constructing a compositemechanical image of said palpable organ from said plurality of partialmechanical images using overlaps between each subsequent and previouspartial mechanical image to merge them together, whereby the entiremechanical image of said palpable organ is obtained with saidtwo-dimensional pressure sensor array irrespective of the movements ofsaid organ during examination.
 2. The method as in claim 1, wherein saidpalpable organ is a human prostate gland and said natural body openingis a rectum.
 3. The method as in claim 1, wherein said probe is furtherequipped with a supplemental pressure sensor array located in a knowngeometrical relationship to said pressure sensor array along said probe,said step (b) further including obtaining supplemental pressure responsedata from said second pressure sensor array.
 4. The method as in claim3, wherein said step (b) further includes identifying a preliminaryposition of said palpable organ at a predetermined distance from asupplemental reference organ as detected from said supplemental pressureresponse data.
 5. The method as in claim 1, wherein said probe isfurther equipped with orientation tracking means, said step (c) furtherincludes obtaining orientation data, and said step (e) further includingconstructing said composite image of said palpable organ using saidorientation data and said overlaps to merge said partial imagestogether.
 6. The method as in claim 1, wherein said step (e) furtherincludes constructing at least one two-dimensional composite image ofsaid palpable organ.
 7. The method as in claim 1, wherein said step (e)further includes constructing a three-dimensional composite image ofsaid palpable organ.
 8. The method as in claim 1 further including astep (f) of displaying said composite image.
 9. The method as in claim 1further including a step (f) of calculating geometrical parameters ofsaid palpable organ and mechanical parameters of its inner structure.10. The method as in claim 9 further including a step (g) of displayingsaid composite image, said geometrical parameters, and said mechanicalparameters of the inner structure of said palpable organ.
 11. A devicefor mechanical imaging of a palpable organ through a natural bodyopening comprising: a probe head sized to fit through said natural bodyopening, said probe head equipped with a two-dimensional head pressuresensor array adapted to obtain a pressure response data when pressedagainst said palpable organ, an electronic unit connected to said probehead and adapted to receiving said pressure response data from saidprobe head, and a processing and display means connected to saidelectronic unit, said processing and display means further including ameans for calculating a plurality of partial mechanical images, eachpartial mechanical image calculated from said pressure response datawhen said probe is pressed against said palpable organ, a means forcomparing each subsequent partial mechanical image with a previouspartial mechanical image to determine an overlap therebetween, and ameans for constructing a composite image of said palpable organ fromsaid plurality of partial images by merging them together using saidoverlap.
 12. The probe as in claim 11, wherein said palpable organ is aprostate gland.
 13. The probe as in claim 11, wherein said probe headpressure sensor array includes a plurality of individual pressuresensors, said sensor selected from a group consisting of capacitivepressure transducer, piezoelectric pressure transducer, resistivepressure transducer, and MEMS pressure transducer.
 14. The probe as inclaim 13, wherein the number of said individual sensors in saidplurality exceeds
 60. 15. The probe as in claim 11, wherein said probehead further includes a shaft equipped with a shaft pressure sensorarray spaced away from the head pressure sensor array and adapted toobtain a supplemental pressure response data.
 16. The probe as in claim11, wherein said probe head further includes orientation tracking meansadapted to provide positional data of the location of said probe. 17.The probe as in claim 16, wherein said orientation tracking meansincluding a three-axis magnetic sensor and a two-axis accelerometersensor.
 18. The probe as in claim 17, wherein said processing anddisplay means further includes means for calculating elevation, rotationand azimuth angle of said probe from data provided by said three-axismagnetic sensor and said two-axis accelerometer sensor.
 19. The probe asin claim 11, wherein said means for constructing said composite imagefurther includes means for calculating geometrical parameters of saidpalpable organ and mechanical parameters of its inner structure.